Automatic guidance of underground mining vehicles using laser sensors

摘要

Autonomous guided vehicles are becoming extremely important in the mining industry. The underground environment is unique and complex in that the lighting conditions are poor, the roads are difficult to traverse, and no GPS can accurately receive signals in these areas. This paper analyzes the characteristics of commonly used positioning methods given that ordinary positioning and navigation methods do not work effectively underground. We outline the composition and principles in underground guidance of autonomous vehicles using the laser-based positioning system. This system is unique in that it draws on the premise of barcode theory, which allows for a feasible relative navigation system even without a GPS. Algorithms were developed to provide real-time control for an autonomous guided scraper. In the vehicle experiment, the scraper was able to autonomously move along the simulated laneway, and the trial average range longitudinal error was only 15 cm in a 40-m distance. Hence, this new type of positioning and navigation system can accurately and reliably guide vehicles.